A two-speed Kalman filter with history projection maintains real-time UUV navigation accuracy under up to 30-second acoustic delays by decoupling fast dead-reckoning from slow collaborative updates.
Enabling cooperative autonomy in UUV clusters: A survey of robust state estimation and information fusion techniques
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An Asynchronous Two-Speed Kalman Filter for Real-Time UUV Cooperative Navigation Under Acoustic Delays
A two-speed Kalman filter with history projection maintains real-time UUV navigation accuracy under up to 30-second acoustic delays by decoupling fast dead-reckoning from slow collaborative updates.